<?xml version="1.0" ?>
<sdf version="1.8">
  <model name="turtlebot3_burger">
    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>

    <link name="base_footprint"/>

    <link name="base_link">

      <inertial>
        <pose>-0.064 0 0.070 0 0 0</pose>
        <inertia>
          <ixx>1.9527e-02</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1.9527e-02</iyy>
          <iyz>0</iyz>
          <izz>1.9527e-02</izz>
        </inertia>
        <mass>8.2573504e-01</mass>
      </inertial>

      <collision name="base_collision">
        <pose>-0.032 0 0.070 0 0 0</pose>
        <geometry>
          <box>
            <size>0.14 0.14 0.14</size>
          </box>
        </geometry>
      </collision>

      <visual name="base_visual">
        <pose>-0.032 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>meshes/bases/burger_base.stl</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
        <material>
          <ambient>0.3 0.3 0.3 1.0</ambient>
          <diffuse>0.3 0.3 0.3 1.0</diffuse>
        </material>
      </visual>
    </link>

    <link name="imu_link">
      <sensor name="tb3_imu" type="imu">
        <always_on>true</always_on>
        <update_rate>200</update_rate>
        <topic>imu</topic>
        <imu>
          <angular_velocity>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
      </sensor>
    </link>

    <link name="base_scan">
      <inertial>
        <pose>-0.020 0 0.161 0 0 0</pose>
        <inertia>
          <ixx>0.0001</ixx>
          <ixy>0.000</ixy>
          <ixz>0.000</ixz>
          <iyy>0.0001</iyy>
          <iyz>0.000</iyz>
          <izz>0.0001</izz>
        </inertia>
        <mass>0.114</mass>
      </inertial>

      <collision name="lidar_sensor_collision">
        <pose>-0.020 0 0.161 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0508</radius>
            <length>0.055</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name="lidar_sensor_visual">
        <pose>-0.032 0 0.171 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>meshes/sensors/lds.stl</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1.0</ambient>
          <diffuse>0.2 0.2 0.2 1.0</diffuse>
        </material>
      </visual>

      <sensor name="hls_lfcd_lds" type="gpu_lidar">
        <always_on>true</always_on>
        <visualize>true</visualize>
        <pose>-0.032 0 0.171 0 0 0</pose>
        <update_rate>5</update_rate>
        <topic>scan</topic>
        <gz_frame_id>base_scan</gz_frame_id>
        <lidar>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1.000000</resolution>
              <min_angle>0.000000</min_angle>
              <max_angle>6.280000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120000</min>
            <max>12.0</max>
            <resolution>0.015000</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
        </lidar>
      </sensor>
    </link>

    <link name="wheel_left_link">

      <inertial>
        <pose>0 0.08 0.023 -1.57 0 0</pose>
        <inertia>
          <ixx>5.445e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>5.445e-05</iyy>
          <iyz>0</iyz>
          <izz>1.089e-04</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>

      <collision name="wheel_left_collision">
        <pose>0 0.08 0.023 -1.57 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.033</radius>
            <length>0.018</length>
          </cylinder>
        </geometry>
        <surface>
          <!-- This friction pamareter don't contain reliable data!! -->
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+5</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>

      <visual name="wheel_left_visual">
        <pose>0 0.08 0.023 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>meshes/wheels/left_tire.stl</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1.0</ambient>
          <diffuse>0.2 0.2 0.2 1.0</diffuse>
        </material>
      </visual>
    </link>

    <link name="wheel_right_link">

      <inertial>
        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
        <inertia>
          <ixx>5.445e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>5.445e-05</iyy>
          <iyz>0</iyz>
          <izz>1.089e-04</izz>
        </inertia>
        <mass>0.1</mass>
      </inertial>

      <collision name="wheel_right_collision">
        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.033</radius>
            <length>0.018</length>
          </cylinder>
        </geometry>
        <surface>
          <!-- This friction pamareter don't contain reliable data!! -->
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
          <contact>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+5</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>

      <visual name="wheel_right_visual">
        <pose>0.0 -0.08 0.023 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>meshes/wheels/right_tire.stl</uri>
            <scale>0.001 0.001 0.001</scale>
          </mesh>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1.0</ambient>
          <diffuse>0.2 0.2 0.2 1.0</diffuse>
        </material>
      </visual>
    </link>

    <link name='caster_back_link'>
      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
      <inertial>
        <mass>0.005</mass>
        <inertia>
          <ixx>0.00001</ixx>
          <ixy>0.000</ixy>
          <ixz>0.000</ixz>
          <iyy>0.00001</iyy>
          <iyz>0.000</iyz>
          <izz>0.00001</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.006000</radius>
          </sphere>
        </geometry>
        <surface>
          <contact>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+5</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
    </link>

    <joint name="base_joint" type="fixed">
      <parent>base_footprint</parent>
      <child>base_link</child>
      <pose>0.0 0.0 0.010 0 0 0</pose>
    </joint>

    <joint name="wheel_left_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_left_link</child>
      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <effort>20</effort>
        </limit>
      </axis>
    </joint>

    <joint name="wheel_right_joint" type="revolute">
      <parent>base_link</parent>
      <child>wheel_right_link</child>
      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <effort>20</effort>
        </limit>
      </axis>
    </joint>

    <joint name='caster_back_joint' type='ball'>
      <parent>base_link</parent>
      <child>caster_back_link</child>
    </joint>

    <joint name="imu_joint" type="fixed">
      <parent>base_link</parent>
      <child>imu_link</child>
      <pose>-0.032 0 0.068 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <joint name="lidar_joint" type="fixed">
      <parent>base_link</parent>
      <child>base_scan</child>
      <pose>-0.032 0 0.171 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
      </axis>
    </joint>

    <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">

      <!-- wheels -->
      <left_joint>wheel_left_joint</left_joint>
      <right_joint>wheel_right_joint</right_joint>

      <!-- kinematics -->
      <wheel_separation>0.160</wheel_separation>
      <wheel_radius>0.033</wheel_radius>

      <!-- limits -->
      <max_linear_acceleration>1.0</max_linear_acceleration>

      <topic>cmd_vel</topic>

      <odom_topic>odom</odom_topic>
      <frame_id>odom</frame_id>
      <child_frame_id>base_footprint</child_frame_id>
      <odom_publisher_frequency>30</odom_publisher_frequency>

      <tf_topic>/tf</tf_topic>

    </plugin>

    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
      <topic>joint_states</topic>
      <joint_name>wheel_left_joint</joint_name>
      <joint_name>wheel_right_joint</joint_name>
    </plugin>

  </model>
</sdf>
